JP2004194751A - Electric vacuum cleaner - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a self-propelled, electric vacuum cleaner which ensures the traveling control. <P>SOLUTION: A pair of driving wheels 6 rotatable in a moving direction of a case 2 of the main body are provided. Obstruction sensors 32 are provided at positions which are line symmetrical each other to the central line along the moving direction of the case 2 to face the front of the case 2. If a difference in the level of a floor is detected to be asymmetric by the obstruction sensors 32, a control means makes the electric vacuum cleaner 1 avoid the step. Idle spinning of the driving wheels 6 due to the difference in the level of the floor is prevented, and the traveling control of the electric vacuum cleaner 1 is ensured. <P>COPYRIGHT: (C)2004,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to an electric vacuum cleaner having a drive wheel that enables a vacuum cleaner main body to move independently.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, this type of vacuum cleaner includes a main body case having a circular shape in a plan view as a main body of the vacuum cleaner accommodating an electric blower. A suction port is formed in the lower surface of the main body case facing the floor as a surface to be cleaned. In addition, a pair of drive wheels that allow the main body case to move on the floor surface, that is, to run, are attached to the lower surface of the main body case. These drive wheels are rotatable along the traveling direction of the main body case, and are mounted at positions symmetrical to each other with respect to the center line of the main body case along the front-rear direction of the main body case. Further, a contact type sensor such as a CCD camera as an obstacle detecting means for detecting a step or the like is attached to the front side of the main body case in front of the main body case. Further, control means for driving the drive wheels to move the body case independently, that is, self-propelled, is provided in the body case. The control means detects the shape of the room in which the main body case is mounted, the position of the main body case, and the like, based on the number of rotations of the drive wheels. Then, the electric vacuum cleaner drives the electric blower while driving the driving wheels by the control means, and sucks and cleans dust on the floor from the suction port of the main body case (for example, see Patent Document 1).
[0003]
[Patent Document 1]
JP-A-2002-209818 (page 3-7, FIG. 2)
[0004]
[Problems to be solved by the invention]
However, in the above-described vacuum cleaner, since the drive wheel rotates along the front-rear direction of the main body case, when the main body case enters this step from a direction that is not perpendicular to the step, that is, an inclined direction, one of the drive wheels There is a case where the main body case cannot move over the step due to only the stepping and moving along the step.
[0005]
In this case, even if the drive wheels run idle and the control means cannot detect the position of the main body case in the room, or even if the main body case is actually bent and running, the main body case goes straight. As described above, there is a possibility that the control means may make a mistake.
[0006]
For this reason, there is a problem that traveling control of the main body case is not reliable.
[0007]
The present invention has been made in view of such a point, and an object of the present invention is to provide a vacuum cleaner that can reliably control traveling.
[0008]
[Means for Solving the Problems]
The vacuum cleaner of the present invention has a cleaner main body having a shape that is at least frontally symmetrical with respect to a center line along the traveling direction with respect to the traveling direction, and a main body of the cleaner along the traveling direction of the cleaner main body. A pair of obstacle detection means provided at a position symmetrical to each other with respect to the center line toward the front of the cleaner main body and detecting a step protruding from the surface to be cleaned; and When the step is detected asymmetrically by the detecting means, the cleaner body is provided with control means for avoiding the step. When the obstacle is detected asymmetrically by the obstacle detecting means, the control means causes the cleaner body to avoid the step, thereby preventing the driving wheels from idling due to the step and securely controlling the traveling.
[0009]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, the configuration of an embodiment of the vacuum cleaner of the present invention will be described with reference to FIGS. 1 to 9.
[0010]
1 to 9, reference numeral 1 denotes an electric vacuum cleaner, and the electric vacuum cleaner 1 is an independent traveling which is an independent movement on a floor F as a surface to be cleaned such as in a factory or a house, that is, a self-propelled cleaning. A main body case 2 as a main body of the machine is provided and connected to a charging stand (not shown).
[0011]
Here, as shown in FIG. 2, the main body case 2 is formed by fitting a lower end edge of a substantially cylindrical upper case body 5 having an upper end closed to an outer peripheral edge of a substantially circular flat bottom plate portion 4, for example. It is configured. Therefore, as shown in FIGS. 1 and 3, the main body case 2 is formed bilaterally symmetric in a front view, that is, is formed line-symmetrically with respect to a center line along the front-rear direction which is the traveling direction of the main body case 2, A portion on the center line of the main body case 2 along the traveling direction is located at the forefront in the main body case 2.
[0012]
Further, as shown in FIGS. 2 and 3, a pair of drive wheels that enable the main body case 2 to move on the floor F, that is, to allow the main body case 2 to run, are provided on both sides of the bottom plate portion 4 in the traveling direction of the main body case 2. 6 is attached rotatably along the traveling direction of the main body case 2.
[0013]
As shown in FIG. 3, these drive wheels 6 are opened on both sides of the bottom plate 4 with respect to the traveling direction of the main body case 2 at positions symmetrical with respect to a center line along the traveling direction of the main body case 2. As shown in FIG. 2, some of the outer peripheral edges of the drive wheels 6 protrude from inside the main body case 2 to the lower side of the main body case 2 as shown in FIG.
[0014]
The driving of each of these drive wheels 6 is controlled by wheel drive control means 8 including a magnetic clutch and an electric motor, as shown in FIG.
[0015]
Further, as shown in FIG. 1, the entire upper side of the upper case body 5 from the center region in the front-rear direction of the main body case 2 is a bumper 11 which is a front upper case body as a contact detecting means. The entire rear side from the center area in the front-rear direction is a rear upper case body 12. The bumper 11 and the rear upper case body 12 are adjacent to each other in the front-rear direction via a predetermined gap 13, as shown in FIGS.
[0016]
The bumper 11 is provided over the front side 180 degrees of the main body case 2 as shown in FIG. That is, the bumper 11 is provided from the foremost part of the main body case 2 to a position shifted laterally in a plan view from the traveling direction of the main body case 2. The bumper 11 is attached in a state where the bumper 11 is urged in the radial direction of the main body case 2. Further, the bumper 11 is movable toward the rear upper case body 12 which is the rear direction by the distance dimension of the gap 13, that is, the bumper 11 is movable. The bumper 11 is a contact-type sensor that detects contact when the vacuum cleaner 1 travels and comes into contact with an obstacle or the like, and moves by the distance of the gap 13 when the bumper 11 comes into contact with the obstacle or the like. To absorb the impact of contact.
[0017]
Further, on the front side of the bottom plate portion 4 of the main body case 2, that is, on the lower surface of the front part of the main body case 2, as shown in FIGS. Surface 14 is formed. The inclined surface 14 makes it easier for the vacuum cleaner 1 to get over a step D projecting from a floor F such as a door rail.
[0018]
The inclined surface 14 includes a front inclined surface 15 located at the forefront of the main body case 2 and side inclined surfaces 16 and 17 which are left and right inclined surfaces formed on both sides of the front inclined surface 15. It is formed symmetrically with respect to the width direction of the main body case 2.
[0019]
Here, the front inclined surface 15 is formed such that both side portions are expanded in plan view from the rear side to the front side of the main body case 2. Further, the front inclined surface 15 is a substantially conical curved surface protruding inside the main body case 2.
[0020]
Therefore, as shown in FIG. 3, the front inclined surface 15 is formed in a substantially fan shape having a width W in plan view. The height of the front inclined surface 15 is set at a height corresponding to a preset height at which the vacuum cleaner 1 can get over, and the height from the floor F to the upper end is set.
[0021]
Further, the side inclined surfaces 16 and 17 are formed in a substantially conical surface shape protruding inward of the main body case 2, and are formed symmetrically with respect to a center line of the main body case 2 in a front view. As shown in FIG. 3, the side inclined surfaces 16 and 17 are respectively formed over the entire both sides of the main body case 2, and as shown in FIG. The height dimension is gradually reduced toward.
[0022]
Further, the side inclined surfaces 16, 17 and the front inclined surface 15 are smoothly adjacent to each other in the width direction of the main body case 2. The upper ends of the front inclined surface 15 and the side inclined surfaces 16 and 17 are continuous with each other so as to form a single arc in front view over the entire upper ends of the front inclined surface 15 and the side inclined surfaces 16 and 17. are doing.
[0023]
Further, a pair of front driven wheels 18 are mounted behind the inclined surface 14 of the bottom plate portion 4 as shown in FIG. The front driven wheels 18 are rotatably mounted along the advancing direction of the main body case 2 at positions symmetrical with respect to a center line of the main body case 2 along the front-rear direction. Further, as shown in FIG. 2, the front driven wheels 18 have lower ends slightly projecting below the bottom plate portion 4, and are driven and rotated by the driving wheels 6.
[0024]
As shown in FIG. 3, an elongated rectangular main body suction port 21 which is open to face the floor surface F is provided behind the front driven wheel 18 of the bottom plate portion 4 in the main body case 2. I have. The main body suction port 21 has a longitudinal direction between the drive wheels 6 and along the width direction of the main body case 2 which is a direction intersecting at right angles to the traveling direction of the main body case 2.
[0025]
Further, as shown in FIG. 2, a substantially rectangular dust collector housing 22 is provided in a concave shape near the upper front side of the upper case body 5. The dust collector housing 22 is connected to an upper portion of the main body suction port 21 through a cylindrical connecting portion 23. Further, a motor 24 as an electric blower is hermetically attached to the inside of the main body case 2 on the rear side of the dust collector housing 22 through a communication hole (not shown). A dust collector (not shown) serving as a dust collector is connected to the upper end of the connecting portion 23 and is detachably attached to the dust collector housing 22.
[0026]
Here, the dust collection cup rotates the suction air sucked from the main body suction port 21 by driving the motor 24, and separates the dust sucked together with the suction air from the suction air by centrifugal separation by its own weight. Collect dust inside.
[0027]
A plurality of, for example, 24 exhaust ports 25 are provided on the rear side surface of the upper case body 5 of the main body case 2, that is, on the exhaust side of the motor 24. These exhaust ports 25 communicate with the exhaust side of the motor 24 to exhaust the exhaust air exhausted from the motor 24 to the rear outside the main body case 2.
[0028]
On the other hand, as shown in FIG. 1, a plurality of, for example, thirteen peripheral sensors 31 as peripheral detecting means for detecting a state around the main body case 2 are attached around the main body case 2. These peripheral sensors 31 are arranged side by side from one side of the rear upper case body 12 through the front part of the bumper 11 to the other side of the rear upper case body 12 of the main body case 2. Installed. Each of the surrounding sensors 31 is attached to the main case 2 in the radial direction of the main body case 2 at substantially equal intervals in the circumferential direction of the upper case body 5. The surrounding sensors 31 are mounted symmetrically with respect to a center line along the front-rear direction of the main body case 2 in plan view, and one at the forefront of the main body case 2 and six at the both sides of the main body case 2. Each is attached.
[0029]
Further, the two surrounding sensors 31 located on both sides of the front part of the main body case 2 are obstacle sensors 32 as obstacle detecting means. These obstacle sensors 32 are attached to the front of the main body case 2. Furthermore, these obstacle sensors 32 are mounted at positions symmetrical with respect to a center line along the front-rear direction of the main body case 2.
[0030]
As shown in FIGS. 1 and 2, a height sensor 33 serving as a height detection unit for detecting the height of an obstacle in front of the vacuum cleaner 1 is provided on the upper side of the front part of the bumper 11. It is installed facing.
[0031]
Further, at the upper end of the front inclined surface 15 at the front of the bumper 11, a step height sensor 34 as step height detecting means for detecting the height of an obstacle in front of the vacuum cleaner 1 is directed forward. Attached.
[0032]
Here, the surrounding sensor 31, the obstacle sensor 32, the height sensor 33, and the step height sensor 34 are, for example, an infrared sensor that emits infrared light to detect an obstacle existing at a predetermined distance, or an image to be captured. It is a non-contact type sensor such as an image sensor that detects an obstacle.
[0033]
As shown in FIG. 2, a substantially rectangular parallelepiped battery pack serving as a battery for supplying electric power to the motor 24 is provided behind the main body suction port 21 between the driving wheels 6 in the main body case 2. The secondary battery 35 is detachably attached, that is, detachably attached.
[0034]
Further, a substantially rectangular concave terminal fitting portion 41 connected to a charging stand (not shown) is cut out and formed across the upper case body 5 and the bottom plate 4 below the exhaust port 25 at the rear of the upper case body 5. ing. Further, a substantially cylindrical rear driven wheel 42 is rotatably mounted across the terminal fitting portion 41 below the terminal fitting portion 41. The rear driven wheel 42 has a lower end slightly protruding below the bottom plate 4, and is driven and rotated by the drive wheel 6 traveling.
[0035]
Further, in the main body case 2, as shown in FIG. 4, a memory IC as a storage means, a timer as a time measuring means, a counter as a measuring means for measuring the number of rotations of the driving wheel 6, and a vacuum cleaner 1 are provided. A control means 45 composed of a circuit board or the like having a control circuit having a gyro or the like as an angle sensor for measuring the rotation angle is mounted. The control means 45 is connected to the secondary battery 35, and is supplied with power from the secondary battery 35.
[0036]
Further, the control means 45 is connected to various sensors such as the bumper 11, the surrounding sensor 31, the obstacle sensor 32, the height sensor 33 and the step height sensor 34, the wheel drive control means 8, the drive wheel 6, and the motor 24. ing. Then, the control means 45 controls the rotational drive of the drive wheels 6 by the wheel drive control means 8 based on the detection of the obstacle by any of the various sensors, and causes the main body case 2 to run while avoiding the obstacle. At the same time, the driving state of the motor 24 at the time of cleaning is controlled.
[0037]
In addition, the control unit 45 detects the moving distance, angle, direction, and the like of the vacuum cleaner 1 based on the number of rotations of the drive wheel 6 and the like, and at which position on the floor F the vacuum cleaner 1 is located, The self-position of the vacuum cleaner 1 is estimated.
[0038]
Next, the traveling control according to the embodiment will be described with reference to a flowchart shown in FIG. 5 and FIGS. 6 to 9.
[0039]
First, the control means 45 drives the drive wheels 6 by the wheel drive control means 8 to cause the vacuum cleaner 1 to travel on the floor F (step 1).
[0040]
At this time, the control means 45 detects an obstacle around the vacuum cleaner 1 by the surrounding sensor 31 and the obstacle sensor 32, and protrudes from the floor F to the front in the traveling direction of the main body case 2 by the obstacle sensor 32. It is determined whether the step D is detected (step 2).
[0041]
In this step 2, when the control means 45 determines that the step D is not detected, the flow returns to step 1 to continue traveling.
[0042]
On the other hand, in step 2, when it is determined by the control unit 45 detects the level difference D detects the height H ₁ of the step D by the step height sensor 34, the height H ₁ of the step D can overcome whether such a height, that the higher or lower than the height of H ₂ from the floor surface F to the upper end portion of the inclined surface 14, it is determined as shown in FIG. 6 and FIG. 7 (step 3).
[0043]
Further, in this step 3, as shown in FIG. 7, or when it is determined by the control means 45 and the step D height H ₁ can be overcome, the obstacle sensor 32 detects the level difference D symmetrically The control means 45 determines whether or not the vacuum cleaner 1 is moving toward the step D from the front or obliquely (step 4). At this time, the control unit 45 determines that the traveling direction of the main body case 2 is a predetermined angle corresponding to the width W of the front inclined surface 15, for example, within ± 5 °, with respect to an imaginary line perpendicular to the surface of the step D That is, if the angle formed by the center line along the front-rear direction of the main body case 2 with respect to the imaginary line perpendicular to the surface of the step D is within 5 ° on both sides of the main body case 2, it is determined that the detection is symmetric. .
[0044]
In step 4, when the control means 45 determines that the step D has been detected symmetrically, the control means 45 drives the drive wheels 6 by the wheel drive control means 8, and as shown in FIG. The machine 1 gets over the step D (step 5).
[0045]
On the other hand, if the control means 45 determines in step 4 that the level difference D has been detected asymmetrically, the control means 45 drives the drive wheels 6 by the wheel drive control means 8, and as shown in FIG. The vacuum cleaner 1 is driven toward D (step 6), and it is determined whether the bumper 11 has contacted the step D (step 7). If the bumper 11 has contacted the step D, it is shown in FIG. As described above, the control means 45 drives the drive wheels 6 by the wheel drive control means 8 to change the traveling direction of the electric vacuum cleaner 1, and causes the electric vacuum cleaner 1 to avoid the step D (step 8).
[0046]
If it is determined in step 7 that the bumper 11 is not in contact with the step D, the process returns to step 6 and the electric vacuum cleaner 1 is driven until the bumper 11 contacts the step D.
[0047]
Further, the step in step 3, as shown in FIG. 6, if it is determined by the control means 45 and not over the height H ₁ of the step D is the electric vacuum cleaner 1 control means 45 proceeds to Step 8 Avoid D.
[0048]
Next, the cleaning operation of the embodiment will be described.
[0049]
First, when a predetermined cleaning time comes according to a program or the like previously input to the control unit 45, the control unit 45 drives the drive wheels 6 by the wheel drive control unit 8, and makes a round along the outer periphery of the room.
[0050]
Thereafter, the control means 45 stores the shape of the room and drives the motor 24 to suck the dust on the floor surface F together with the air from the main body suction port 21 and clean while controlling the traveling.
[0051]
Dust sucked in from the main body inlet 21 is carried into the dust collecting cup of the dust collector housing part 22 via the connecting part 23 on the air sucked from the main body inlet 21 and turned into a suction wind, The dust is collected by being centrifuged in the dust collecting cup.
[0052]
The suction air from which the dust has been separated passes through the motor 24 to become exhaust air, and is exhausted from the exhaust port 25 to the outside of the main body case 2.
[0053]
Then, when the controller 45 cleans the entire floor F while checking the stored room shape and the cleaning path of the vacuum cleaner 1, the control unit 45 stops the motor 24 and moves the vacuum cleaner 1 to the position of the charging stand. Then, the terminal fitting portion 41 and the charging stand are aligned and docked to complete the cleaning, and the secondary battery 35 is charged.
[0054]
As described above, according to the embodiment, when the obstacle sensor 32 detects the step D asymmetrically with respect to the traveling direction of the electric vacuum cleaner 1, the control unit 45 controls the wheel drive control unit 8 By driving the drive wheels 6 to cause the vacuum cleaner 1 to avoid this step D, it is possible to prevent the drive wheels 6 from running idle due to only one drive wheel 6 hitting the step D. As a result, the traveling of the vacuum cleaner 1 can be surely controlled, for example, the straightness of the vacuum cleaner 1 can be maintained, and the control unit 45 can prevent the self-position of the vacuum cleaner 1 from being erroneously estimated.
[0055]
Further, when the vacuum cleaner 1 moves from the front toward the step D having a height that can be overcome, the front inclined surface 15 is formed in a conical shape, so that the step D can be surely overcome.
[0056]
Further, when the vacuum cleaner 1 moves obliquely toward the step D, the cleaner 45 contacts the step D via the bumper 11 and then the controller 45 applies the step D to the vacuum cleaner 1. Therefore, the step D can be more easily and reliably avoided without using a sensor having a complicated structure, and the reliability of avoiding the step D by the vacuum cleaner 1 can be further improved.
[0057]
Since the front inclined surface 15 is formed in a conical shape, a position closer to the rear side of the front inclined surface 15 contacts the step D as compared with the case where the front inclined surface 15 is flat, and the electric vacuum cleaner 1 Can easily move over the step D, so that the electric vacuum cleaner 1 can easily get over the step D.
[0058]
In addition, since the inclined surface 14 has a shape symmetrical with respect to the width direction of the main body case 2, even if the inclined surface 14 moves obliquely toward the step D from either the left or right in the width direction of the main body case 2, the same difference in level is obtained. D can be avoided.
[0059]
In the above embodiment, the vacuum cleaner 1 adjusts the angle at which the step D can be overcome by changing the width W of the front inclined surface 15 of the inclined surface 14. For example, by increasing the width dimension W of the front inclined surface 15, even if the vehicle moves toward the step D at a wider angle, the step D can be overcome.
[0060]
As shown in FIGS. 10 to 12, the inclined surface 14 has a substantially rectangular front inclined surface 51 located at the forefront of the main body case 2, and a substantially rectangular inclined surface adjacent to both sides of the front inclined surface 51. It is composed of intermediate inclined surfaces 52, 53 and substantially triangular side inclined surfaces 54, 55 located on the sides of the intermediate inclined surfaces 52, 53. That is, it may be inclined over the front side of the gap 13. At this time, the front inclined surface 51 is a flat inclined surface, and the intermediate inclined surfaces 52 and 53 are either a flat surface or a conical surface. In this case, the position of the inclined surface 14 closer to the rear side of the inclined surface 14 contacts the step D as compared with the embodiment shown in FIGS. 1 to 9, and the center of gravity of the vacuum cleaner 1 can be more easily adjusted. Since the user can move on the step D, the vacuum cleaner 1 can easily get over the step D.
[0061]
Further, the inclined surface 14 can have various other aspects such as a shape, an inclined angle, and a surface area.
[0062]
Further, instead of the bumper 11, a bumper-shaped contact sensor may be provided from the frontmost portion of the bumper 11 to both side portions.
[0063]
In order to further simplify the configuration of the vacuum cleaner 1, a configuration without the bumper 11 is also possible. In this case, in the control by the control means 45, by performing the control in which steps 6 and 7 are omitted, the step D can be avoided when moving toward the step D in an oblique direction.
[0064]
The shape of the main body case 2 need not be a columnar shape as long as it is line-symmetric with respect to the traveling direction.
[0065]
Furthermore, as long as the vacuum cleaner 1 moves from the diagonal direction toward the step D, the details of the vacuum cleaner 1 are not limited to the above-described structure as long as the step D can be avoided.
[0066]
If the bumper 11, which is the front surface in the traveling direction, has a shape symmetrical with respect to the center line along the traveling direction of the main body case 2, the shape of the rear surface in the traveling direction of the main body case 2 It does not have to be line-symmetric with respect to the center line along the traveling direction.
[0067]
【The invention's effect】
According to the present invention, when a step is detected asymmetrically by the obstacle detecting means, the control means causes the cleaner body to avoid the step, thereby preventing idling of the drive wheels due to the step and securely controlling the traveling. it can.
[Brief description of the drawings]
FIG. 1 is a front view showing one embodiment of a vacuum cleaner of the present invention.
FIG. 2 is a cross-sectional view showing the electric vacuum cleaner.
FIG. 3 is a bottom view showing the electric vacuum cleaner.
FIG. 4 is a block diagram showing the electric vacuum cleaner according to the first embodiment;
FIG. 5 is a flowchart showing traveling control of the electric vacuum cleaner.
FIG. 6 is an explanatory diagram showing traveling control of the electric vacuum cleaner.
FIG. 7 is an explanatory diagram showing traveling control of the electric vacuum cleaner.
FIG. 8 is an explanatory diagram showing traveling control of the electric vacuum cleaner.
FIG. 9 is an explanatory diagram showing traveling control of the electric vacuum cleaner.
FIG. 10 is a front view showing another embodiment of the vacuum cleaner of the present invention.
FIG. 11 is a side view showing the electric vacuum cleaner.
FIG. 12 is a plan view showing a part of the electric vacuum cleaner.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Vacuum cleaner 2 Body case as a vacuum cleaner main body 6 Drive wheel
11 Bumper as contact detection means
14 Slope
24 Motor as electric blower
32 Obstacle sensor as obstacle detection means
45 Control means D Step F Floor to be cleaned

Claims (2)

A vacuum cleaner body comprising an electric blower, at least a front surface with respect to the traveling direction and a cleaner body having a shape symmetrical with respect to a center line along the traveling direction,
A pair of drive wheels that make the cleaner body movable,
A pair of a pair of sensors are provided toward the front of the cleaner main body at positions symmetrical to each other with respect to the center line of the cleaner main body along the traveling direction of the cleaner main body and detect a step protruding from the surface to be cleaned. Obstacle detection means;
An electric vacuum cleaner comprising: a controller that moves the cleaner body independently and controls the cleaner body to avoid the step when the obstacle detecting unit detects the step asymmetrically. The cleaner body is provided such that a portion on the center line of the cleaner body along the traveling direction of the cleaner body projects most forward in plan view,
An inclined surface that is provided on the lower surface of the front part of the cleaner body and is inclined upward toward the front in the traveling direction of the cleaner body,
The vacuum cleaner according to claim 1, further comprising: contact detection means provided at least at a position shifted in a plan view from a center line of the cleaner main body along a traveling direction of the cleaner main body.

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